CN108121325A - A kind of autonomous driving vehicle state of ground assessment method - Google Patents
A kind of autonomous driving vehicle state of ground assessment method Download PDFInfo
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- CN108121325A CN108121325A CN201711146373.XA CN201711146373A CN108121325A CN 108121325 A CN108121325 A CN 108121325A CN 201711146373 A CN201711146373 A CN 201711146373A CN 108121325 A CN108121325 A CN 108121325A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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Abstract
The present invention relates to a kind of autonomous driving vehicle state of ground assessment methods, and including building vehicle self poisoning hardware device, structure assessment calculates function, road surface data acquisition, vehicle operation data detection, six steps such as status assessment and data feedback.One aspect of the present invention control operation is simple and practicable, Data Detection effect and precision are high, data-handling capacity is strong, it on the one hand can be effectively in the whole process of vehicle operation, union is acquired to vehicle self-operating state and road surface virtual condition, it efficiently can easily obtain pavement state parameters information when vehicle runs current, on the other hand can by calculating to pavement state parameters information feed back in the control system of automatic driving vehicle, guidance adjustment is carried out to parameters such as vehicle operating speeds, so as to greatly improve the safety and reliability of vehicle operation.
Description
Technical field
The present invention relates to a kind of automatic driving vehicle progress control methods, belong to unmanned technical field.
Background technology
With the popularization and use of unmanned technology, automatic driving vehicle has progressively obtained promotion and application, but current
In automatic driving vehicle operation is carried out, the safety and reliability influence that pavement state runs vehicle is very huge, works as vehicle
On the one hand it is opposite to easily lead to vehicle running comfort when travel condition of vehicle and pavement state matching difference for speed, turning radius
It is poor, security incident occurs when on the other hand also vehicle easily being caused to run, and for this problem, current upper shortage one kind can
In company with the evaluation of pavement condition method that the whole road condition of vehicle operation progress is mutually matched with vehicle operation, so as to cause automatic Pilot
There are larger security risk when vehicle is run, therefore for this present situation, there is an urgent need to develop a kind of automatic driving vehicle fortune
Walking along the street surface state evaluation method, to meet the needs of actual use.
The content of the invention
The object of the invention, which is that, overcomes above-mentioned deficiency, provides one kind and divides Framework Software network hot upgrade method online.
To achieve the above object, the present invention is to be achieved through the following technical solutions：
A kind of autonomous driving vehicle state of ground assessment method, comprises the following steps：
The first step builds vehicle self poisoning hardware device, first according to needs are used, is set on vehicle chassis outer surface several
Road surface checking device, each road surface checking device axis are mutually perpendicular to be distributed and are distributed on vehicle chassis lower surface with vehicle chassis,
Wireless data communication device, detection data processing equipment and GNSS satellite guider are set in the car, then by detection data
Manage device difference wireless data communication device, GNSS satellite guider, road surface checking device and vehicle driving computer circuits electricity
Gas connects；
Second step, structure assessment calculates function, and after completing the first step, the road surface resistance of motion is set in data processing equipment is detected
It is spare to calculate function, wheel slip calculating function；
3rd step, road surface data acquisition after completing second step operation, under travel condition of vehicle, on the one hand pass through pavement detection
Device road pavement type is detected, and another aspect road surface is detected with vehicle chassis spacing, road surface waviness and the gradient, and
By the data feedback of detection into detection data processing equipment；
4th step, vehicle operation data detection complete road pavement detection device road pavement type in second step and are detected identification
Afterwards, while by environment temperature, the humidity between road surface checking device road pavement and vehicle chassis it is detected, and by the number of detection
It detects in data processing equipment according to feeding back to, while vehicle is currently transported by vehicle driving computer circuits by road surface checking device
Speed, engine speed, tire pressure data and vehicle load data during row are acquired；
5th step, status assessment, according to road surface data and vehicle operation data that the 3rd step and the 4th step collect, first a side
Spacing between vehicle chassis and road surface is detected in face, current road trafficability is judged, on the other hand according to road surface types, fluctuating feelings
Condition, road environment temperature, humidity data lack the road surface theory friction system value, then again by the vehicle speed data of vehicle, tire pressure
Data, engine speed data and vehicle load data are updated to the assessment that is built in second step and calculate in function, to vehicle with
Passability and friction system value carry out further calculation and check between ground, to the fortune between vehicle current operating conditions and pavement structure
Row data carry out assessment calculating, finally obtain current vehicle operation state of ground assessment data；
6th step, data feedback, after completing the 5th step, the vehicle operation state of ground assessment data feedback that the 5th step is obtained arrives
It detects in data processing equipment, is calculated by detection data processing equipment assessment digital simulation in road surface data qualification and vehicle face to face
Under based on tire pressure data, vehicle load data, road environment temperature, humidity data, vehicle optimum operation speed is obtained, so
The vehicle speed calculated is fed back in vehicle driving computer circuits afterwards, then successively based on vehicle speed is adjusted
It is whole.
Further, in the first step, road surface checking device includes monitoring camera, millimeter wave range radar, swashs
Ligh-ranging radar, temperature sensor, humidity sensor horizon sensor.
Further, in the first step, wireless data communication device is based on WIFI wireless telecommunication systems, Zigbee
Any one or a few in wireless telecommunication system, DSRC wireless telecommunication systems grade and RFID RF systems is used in conjunction with.
Further, in the first step, detection data processing equipment, which sets data processing module, code module, identity, to be known
Other module and serial communication module, the data processing module is respectively with decoding coding module, identification module and serial ports
Communication module is electrically connected, and wherein data processing module is based on the control circuit based on DSP, fpga chip.
Further, in the second step：
The road surface resistance of motion calculates function：；
Wherein f is resistance system,For vehicle motor transmission system efficiency, r vehicle drive wheels radiuses,For vehicle air
Resistance, G are vehicle weight；
Wheel slip calculates function：；
Wherein s is wheelslip coefficient, and v speeds, r is vehicle drive wheels radius,For vehicle wheel rotational speed.
Further, in the 3rd step, road surface types include bituminous paving, concrete road surface, compacting loess road surface,
Flow the several types in sandy soil road surface.
Further, in the 3rd step, when being detected to vehicle data, while by car running computer circuit to vehicle
Wheel slipping state is detected and eliminates.
Further, the 3rd step and the 4th step are when carrying out information gathering, information acquisition one in every 1-10 minutes
Secondary, the 4th step operation is 5-120 seconds with the 3rd step operation time interval.
Further, in the 5th step, current vehicle operation state of ground assessment data is obtained and use storehouse knot
Structure is stored in detection data processing equipment.
One aspect of the present invention control operation is simple and practicable, and Data Detection effect and precision are high, and data-handling capacity is strong, a side
Face can be acquired and transport to vehicle self-operating state and road surface virtual condition effectively in the whole process of vehicle operation
It calculates, efficiently can easily obtain pavement state parameters information when vehicle runs current, it on the other hand can be by the road arrived of calculating
Surface state parameter information is fed back in the control system of automatic driving vehicle, and guidance tune is carried out to parameters such as vehicle operating speeds
It is whole, so as to greatly improve the safety and reliability of vehicle operation.
Description of the drawings
Fig. 1 is control method flow diagram of the present invention；
Fig. 2 is detection data processing device structure diagram；
Fig. 3 is vehicle self poisoning hardware device schematic layout pattern.
Specific embodiment
As shown in Figure 1,2 and 3, a kind of autonomous driving vehicle state of ground assessment method, comprises the following steps：
The first step builds vehicle self poisoning hardware device, first according to needs are used, is set on vehicle chassis outer surface several
Road surface checking device 1, each road surface checking device axis are mutually perpendicular to be distributed and are distributed on vehicle chassis lower surface with vehicle chassis,
Wireless data communication device 2, detection data processing equipment 3 and GNSS satellite guider 4 are set in the car, then by detection data
Processing unit 3 distinguishes wireless data communication device 2, GNSS satellite guider 4, road surface checking device 1 and vehicle driving computer
Circuit electrical connects；
Second step, structure assessment calculates function, and after completing the first step, the road surface resistance of motion is set in data processing equipment is detected
It is spare to calculate function, wheel slip calculating function；
3rd step, road surface data acquisition after completing second step operation, under travel condition of vehicle, on the one hand pass through pavement detection
Device road pavement type is detected, and another aspect road surface is detected with vehicle chassis spacing, road surface waviness and the gradient, and
By the data feedback of detection into detection data processing equipment；
4th step, vehicle operation data detection complete road pavement detection device road pavement type in second step and are detected identification
Afterwards, while by environment temperature, the humidity between road surface checking device road pavement and vehicle chassis it is detected, and by the number of detection
It detects in data processing equipment according to feeding back to, while vehicle is currently transported by vehicle driving computer circuits by road surface checking device
Speed, engine speed, tire pressure data and vehicle load data during row are acquired；
5th step, status assessment, according to road surface data and vehicle operation data that the 3rd step and the 4th step collect, first a side
Spacing between vehicle chassis and road surface is detected in face, current road trafficability is judged, on the other hand according to road surface types, fluctuating feelings
Condition, road environment temperature, humidity data lack the road surface theory friction system value, then again by the vehicle speed data of vehicle, tire pressure
Data, engine speed data and vehicle load data are updated to the assessment that is built in second step and calculate in function, to vehicle with
Passability and friction system value carry out further calculation and check between ground, to the fortune between vehicle current operating conditions and pavement structure
Row data carry out assessment calculating, finally obtain current vehicle operation state of ground assessment data；
6th step, data feedback, after completing the 5th step, the vehicle operation state of ground assessment data feedback that the 5th step is obtained arrives
It detects in data processing equipment, is calculated by detection data processing equipment assessment digital simulation in road surface data qualification and vehicle face to face
Under based on tire pressure data, vehicle load data, road environment temperature, humidity data, vehicle optimum operation speed is obtained, so
The vehicle speed calculated is fed back in vehicle driving computer circuits afterwards, then successively based on vehicle speed is adjusted
It is whole.
In the present embodiment, in the first step, road surface checking device include monitoring camera, millimeter wave range radar,
Range laser radar, temperature sensor, humidity sensor horizon sensor.
In the present embodiment, in the first step, wireless data communication device be based on WIFI wireless telecommunication systems,
Any one or a few in Zigbee wireless telecommunication systems, DSRC wireless telecommunication systems grade and RFID RF systems is common
It uses.
In the present embodiment, in the first step, detection data processing equipment sets data processing module, code module, identity
Identification module and serial communication module, the data processing module is respectively with decoding coding module, identification module and string
Mouth communication module electrical connection, wherein data processing module are based on the control circuit based on DSP, fpga chip.
In the present embodiment, in the second step：
The road surface resistance of motion calculates function：；
Wherein f is resistance system,For vehicle motor transmission system efficiency, r vehicle drive wheels radiuses,For vehicle air
Resistance, G are vehicle weight；
Wheel slip calculates function：；
Wherein s is wheelslip coefficient, and v speeds, r is vehicle drive wheels radius,For vehicle wheel rotational speed.
In the present embodiment, in the 3rd step, road surface types include bituminous paving, concrete road surface, compacting loess road
Face, the flowing several types in sandy soil road surface.
In the present embodiment, in the 3rd step, when being detected to vehicle data, while pass through a car running computer circuit pair
Wheel slip state is detected and eliminates.
In the present embodiment, the 3rd step and the 4th step are when carrying out information gathering, information acquisition one in every 1-10 minutes
Secondary, the 4th step operation is 5-120 seconds with the 3rd step operation time interval.
In the present embodiment, in the 5th step, obtain current vehicle operation state of ground assessment data and use storehouse
Structure is stored in detection data processing equipment.
One aspect of the present invention control operation is simple and practicable, and Data Detection effect and precision are high, and data-handling capacity is strong, a side
Face can be acquired and transport to vehicle self-operating state and road surface virtual condition effectively in the whole process of vehicle operation
It calculates, efficiently can easily obtain pavement state parameters information when vehicle runs current, it on the other hand can be by the road arrived of calculating
Surface state parameter information is fed back in the control system of automatic driving vehicle, and guidance tune is carried out to parameters such as vehicle operating speeds
It is whole, so as to greatly improve the safety and reliability of vehicle operation.
Claims (9)
1. a kind of autonomous driving vehicle state of ground assessment method, it is characterised in that：The autonomous driving vehicle state of ground
Assessment method comprises the following steps：
The first step builds vehicle self poisoning hardware device, first according to needs are used, is set on vehicle chassis outer surface several
Road surface checking device, each road surface checking device axis are mutually perpendicular to be distributed and are distributed on vehicle chassis lower surface with vehicle chassis,
Wireless data communication device, detection data processing equipment and GNSS satellite guider are set in the car, then by detection data
Manage device difference wireless data communication device, GNSS satellite guider, road surface checking device and vehicle driving computer circuits electricity
Gas connects；
Second step, structure assessment calculates function, and after completing the first step, the road surface resistance of motion is set in data processing equipment is detected
It is spare to calculate function, wheel slip calculating function；
3rd step, road surface data acquisition after completing second step operation, under travel condition of vehicle, on the one hand pass through pavement detection
Device road pavement type is detected, and another aspect road surface is detected with vehicle chassis spacing, road surface waviness and the gradient, and
By the data feedback of detection into detection data processing equipment；
4th step, vehicle operation data detection complete road pavement detection device road pavement type in second step and are detected identification
Afterwards, while by environment temperature, the humidity between road surface checking device road pavement and vehicle chassis it is detected, and by the number of detection
It detects in data processing equipment according to feeding back to, while vehicle is currently transported by vehicle driving computer circuits by road surface checking device
Speed, engine speed, tire pressure data and vehicle load data during row are acquired；
5th step, status assessment, according to road surface data and vehicle operation data that the 3rd step and the 4th step collect, first a side
Spacing between vehicle chassis and road surface is detected in face, current road trafficability is judged, on the other hand according to road surface types, fluctuating feelings
Condition, road environment temperature, humidity data lack the road surface theory friction system value, then again by the vehicle speed data of vehicle, tire pressure
Data, engine speed data and vehicle load data are updated to the assessment that is built in second step and calculate in function, to vehicle with
Passability and friction system value carry out further calculation and check between ground, to the fortune between vehicle current operating conditions and pavement structure
Row data carry out assessment calculating, finally obtain current vehicle operation state of ground assessment data；
6th step, data feedback, after completing the 5th step, the vehicle operation state of ground assessment data feedback that the 5th step is obtained arrives
It detects in data processing equipment, is calculated by detection data processing equipment assessment digital simulation in road surface data qualification and vehicle face to face
Under based on tire pressure data, vehicle load data, road environment temperature, humidity data, vehicle optimum operation speed is obtained, so
The vehicle speed calculated is fed back in vehicle driving computer circuits afterwards, then successively based on vehicle speed is adjusted
It is whole.
2. the one kind stated according to claim 1 divides Framework Software network hot upgrade method online, it is characterised in that：Described first
In step, road surface checking device includes monitoring camera, millimeter wave range radar, range laser radar, temperature sensor, humidity and passes
Sensor horizon sensor.
3. the one kind stated according to claim 1 divides Framework Software network hot upgrade method online, it is characterised in that：Described first
In step, wireless data communication device is based on WIFI wireless telecommunication systems, Zigbee wireless telecommunication systems, DSRC wireless telecommunications system
Any one or a few in irrespective of size and RFID RF systems is used in conjunction with.
4. the one kind stated according to claim 1 divides Framework Software network hot upgrade method online, it is characterised in that：Described first
In step, detection data processing equipment sets data processing module, code module, identification module and serial communication module, described
Data processing module is electrically connected respectively with decoding coding module, identification module and serial communication module, wherein at data
It is based on the control circuit based on DSP, fpga chip to manage module.
5. the one kind stated according to claim 1 divides Framework Software network hot upgrade method online, it is characterised in that：Described second
In step：
The road surface resistance of motion calculates function：；
Wherein f is resistance system,For vehicle motor transmission system efficiency, r vehicle drive wheels radiuses,It is hindered for vehicle air
Power, G are vehicle weight；
Wheel slip calculates function：；
Wherein s is wheelslip coefficient, and v speeds, r is vehicle drive wheels radius,For vehicle wheel rotational speed.
6. the one kind stated according to claim 1 divides Framework Software network hot upgrade method online, it is characterised in that：Described the 3rd
In step, road surface types include bituminous paving, concrete road surface, compacting loess road surface, the flowing several types in sandy soil road surface.
7. the one kind stated according to claim 1 divides Framework Software network hot upgrade method online, it is characterised in that：Described the 3rd
In step, wheel slip state is detected and eliminated when being detected to vehicle data, while by a car running computer circuit.
8. the one kind stated according to claim 1 divides Framework Software network hot upgrade method online, it is characterised in that：Described the 3rd
When carrying out information gathering, information gathers once for every 1-10 minutes for step and the 4th step, the 4th step operation and the 3rd step activity duration
At intervals of 5-120 seconds.
9. the one kind stated according to claim 1 divides Framework Software network hot upgrade method online, it is characterised in that：Described the 5th
In step, obtain current vehicle operation state of ground assessment data and be stored in using stack architecture in detection data processing equipment.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108684203A (en) * | 2017-01-13 | 2018-10-19 | 百度时代网络技术（北京）有限公司 | The method and system of the road friction of automatic driving vehicle is determined using based on the Model Predictive Control of study |
| CN111091066A (en) * | 2019-11-25 | 2020-05-01 | 重庆工程职业技术学院 | Method and system for evaluating ground state of automatic driving automobile |
| CN112735138A (en) * | 2021-01-07 | 2021-04-30 | 中国安全生产科学研究院 | Device and method for checking potential safety hazards of expressway |
| CN112880627A (en) * | 2019-11-29 | 2021-06-01 | 丰田自动车株式会社 | Road surface damage detection device, road surface damage detection method, and medium |
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| CN108684203A (en) * | 2017-01-13 | 2018-10-19 | 百度时代网络技术（北京）有限公司 | The method and system of the road friction of automatic driving vehicle is determined using based on the Model Predictive Control of study |
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| CN112735138A (en) * | 2021-01-07 | 2021-04-30 | 中国安全生产科学研究院 | Device and method for checking potential safety hazards of expressway |
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Application publication date: 20180605 |